slop

server/src/services/overcurrentProtectionService/index.js

@@ -421,6 +421,10 @@ function createOvercurrentProtectionService(options = {}) {
     if (state.driveBlocked) return 'stopped';
     const anyLimited = MOTOR_KEYS.some((key) => state.motors[key].cap < 1);
     if (anyLimited && anyOvercurrent) return 'limiting';
+    // The raw Roomba flag is useful operator information even while stress is
+    // still inside the transient grace region. Reporting it separately keeps
+    // HUD visibility immediate without falsely claiming output is being scaled.
+    if (anyOvercurrent) return 'overcurrent';
     if (anyLimited) return 'recovering';
     return 'idle';
   }

server/src/services/overcurrentProtectionService/index.test.js

@@ -50,7 +50,9 @@ test('a short stalled-wheel spike remains inside the grace region', () => {
 
   assert.equal(snapshot.motors.leftWheel.stress, 0.025);
   assert.equal(snapshot.motors.leftWheel.cap, 1);
-  assert.equal(snapshot.status, 'idle');
+  // The hardware event is visible immediately even though the grace region
+  // correctly leaves the command cap at full output.
+  assert.equal(snapshot.status, 'overcurrent');
 });
 
 test('persistent stalled-wheel overcurrent scales both wheels and then stops drive', () => {